I’m using the ABCC40 EtherCAT firmware version 2.18 to develop an EtherCAT slave.
Is there a way to “delay” the response to the EtherCAT master when a state transition is requested?
From what I’m seeing now, when a state change is requested by the EtherCAT master, the ABCC doesn’t wait for the host response to the command “set attribute ethercat state” but it replies to the master with the new state before the host responds.
In particular what I wish is to have this situation:
Slave state is Boot:
Master sends the request to go to Init state
Slave notifies the state change to Init only after some time (the host process has to manage a long operation in this transition).
Is there a way to achieve this result?